A Robust Feature Matching Method for Robot Localization in a Dynamic Indoor Environment - Technologies and Applications of Artificial Intelligence - page 361

Our method signatures - rs with move

100%

90%

80%

70%

60%

50%

40%

30%

20%

10%

0%

49 62 68 74 80 86 93 111 124 130 155 173 186

Fig. 15. Localization accurary in Experiment 2, with 2.7% dynamic information

Our method signatures - rs with move

100%

90%

80%

70%

60%

50%

40%

30%

20%

10%

0%

49 62 68 74 80 86 93 111 124 130 155 173 186

Resolution (centimeter)

Fig. 16. Localization accurary in Experiment 2, with 22% dynamic information

Table 1. Average Error (cm) of Robot Localization in Dynamic Environments

Distance of the
obstacle object

Distance of the
obstacle object

Distance of the
obstacle object

Resoluti
on

Resolu
tion

Resolu
tion

434cm 434cm 434cm

62 cm 62cm 62cm

49cm 18.6 86cm 24.8 130cm 31

24.8 31 37.2

24.8 24.8 37.2

62cm 93cm 155cm

31 31 37.2

68cm 24.8 111cm 31 173cm 37.2

31 37.2 37.2

74cm 24.8 124cm 31 186cm 37.2

31 37.2 37.2

80cm 24.8

31